Robotics Library  0.7.0
Public Member Functions | List of all members
rl::kin::Revolute Class Reference

#include <Revolute.h>

Inheritance diagram for rl::kin::Revolute:
Inheritance graph
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Public Member Functions

 Revolute ()
 
virtual ~Revolute ()
 
::rl::math::Unit getPositionUnit () const
 
::rl::math::Unit getSpeedUnit () const
 
void jacobian (const ::rl::math::Transform &tcp, ::rl::math::MatrixBlock &j)
 
void setPosition (const ::rl::math::Real &q)
 
- Public Member Functions inherited from rl::kin::Joint
 Joint ()
 
virtual ~Joint ()
 
::rl::math::Real getPosition () const
 
- Public Member Functions inherited from rl::kin::Transform
 Transform ()
 
virtual ~Transform ()
 
virtual void updateFrames ()
 
- Public Member Functions inherited from rl::kin::Element
 Element ()
 
virtual ~Element ()
 

Additional Inherited Members

- Public Attributes inherited from rl::kin::Joint
::rl::math::Real a
 
::rl::math::Real alpha
 
::rl::math::Real d
 
::std::unordered_set< ::std::size_t > leaves
 
::rl::math::Real max
 
::rl::math::Real min
 
::rl::math::Real offset
 
::rl::math::Real speed
 
::rl::math::Real theta
 
bool wraparound
 
- Public Attributes inherited from rl::kin::Transform
Framein
 
Frameout
 
::rl::math::Transform transform
 
- Public Attributes inherited from rl::kin::Element
::std::string name
 
- Protected Attributes inherited from rl::kin::Joint
::rl::math::Real q
 

Constructor & Destructor Documentation

◆ Revolute()

rl::kin::Revolute::Revolute ( )

◆ ~Revolute()

rl::kin::Revolute::~Revolute ( )
virtual

Member Function Documentation

◆ getPositionUnit()

rl::math::Unit rl::kin::Revolute::getPositionUnit ( ) const
virtual

Implements rl::kin::Joint.

◆ getSpeedUnit()

rl::math::Unit rl::kin::Revolute::getSpeedUnit ( ) const
virtual

Implements rl::kin::Joint.

◆ jacobian()

void rl::kin::Revolute::jacobian ( const ::rl::math::Transform tcp,
::rl::math::MatrixBlock j 
)
virtual

\[ {^{0}J_{i}(q)} = \begin{pmatrix}z_{i - 1} \times {^{i - 1}p_{n}}\\z_{i - 1}\end{pmatrix} \]

Implements rl::kin::Joint.

◆ setPosition()

void rl::kin::Revolute::setPosition ( const ::rl::math::Real q)
virtual

Reimplemented from rl::kin::Joint.


The documentation for this class was generated from the following files: